Terrain information management system

Abstract

To accurately and easily increase the precision of low-precision current terrain data without requiring additional measurement work.SOLUTION: A terrain information management system 10 includes a management server 30 managing current terrain data showing a current terrain at a construction site. The management server 30 determines a terrain changeless area at the construction site without any terrain change before and after construction on a basis of pre-construction terrain data showing a terrain before starting the construction at the construction site, design data showing a terrain after completion of the construction at the construction site, and working position data showing a working position of a work machine at the construction site. The management server 30 calculates a correction amount of the current terrain data on a basis of a difference between the design data within the terrain changeless area and the current terrain data within the terrain changeless area. The management server 30 corrects the current terrain data according to the calculated correction amount.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a topographical information management system. [Background technology]

[0002] At present, in order to improve productivity at construction sites, the spread of information-based construction using information and communication technology is progressing at a rapid pace. One of the major features of information-based construction is to appropriately measure the current topography of the construction site and manage the progress and quality of construction through topographical information. Measurement of the current topography is carried out using a wide variety of measuring devices, such as TS (Total Station), laser scanners, and / or UAVs (Unmanned Aerial Vehicles) equipped with laser scanners.

[0003] For example, Patent Document 1 discloses a work machine control system that includes an acquisition unit that acquires first current terrain data for a work site where a work machine having a work implement is performing work, and second current terrain data obtained by a measurement method different from that of the first current terrain data, a calculation unit that calculates the difference in height data at the same position between the first current terrain data and the second current terrain data, and obtains correction data for correcting the height data in the first current terrain data based on the difference and parameter information related to the current terrain of the work site, and a correction unit that corrects the first current terrain data based on the correction data. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-112051 A Summary of the Invention [Problem to be solved by the invention]

[0005] The control system disclosed in Patent Document 1 estimates the measurement accuracy of the current topography data acquired by an acquisition unit based on a measurement method of the current topography data. The control system disclosed in Patent Document 1 sets low-accuracy current topography data as first current topography data, and sets high-accuracy current topography data as second current topography data. The control system disclosed in Patent Document 1 corrects the first current topography data using the second current topography data.

[0006] However, the measurement accuracy of the current topography data is affected not only by the measurement method but also by other factors such as the specifications of the measuring equipment and the measurement conditions. With the control system disclosed in Patent Document 1, it is difficult to accurately estimate the measurement accuracy of the current topography data. If an error occurs in setting the first current topography data and the second current topography data, the control system disclosed in Patent Document 1 may make an erroneous correction by correcting the high-precision current topography data using the low-precision current topography data. Therefore, it is difficult for the control system disclosed in Patent Document 1 to accurately improve the accuracy of the low-precision current topography data.

[0007] In addition, the control system disclosed in Patent Document 1 measures highly accurate current terrain data in advance using a laser scanner or the like, and can estimate the measurement accuracy of the current terrain data acquired by the acquisition unit by comparing it with this highly accurate current terrain data.

[0008] However, when construction progresses at a construction site and the current topography changes, the current topography data measured in advance by a laser scanner or the like no longer accurately represents the current topography after the change. Therefore, in the control system disclosed in Patent Document 1, when the current topography changes, additional measurement work using a laser scanner or the like is required to improve the accuracy of the current topography data, which is very time-consuming.

[0009] In view of the above circumstances, an object of the present invention is to accurately and easily improve the accuracy of low-precision current topographical data without requiring additional measurement work. [Means for solving the problem]

[0010] In order to solve the above problems, the topographical information management system of the present invention is a topographical information management system that includes a management server that manages current topography data indicating the current topography of a construction site, and the management server determines an unchanging terrain area of ​​the construction site where the topography does not change before and after construction based on pre-construction topography data indicating the topography of the construction site before construction begins, design data indicating the topography of the construction site after construction is completed, and work position data indicating the work position of a work machine at the construction site, calculates a correction amount for the current topography data based on the difference between the design data in the unchanging terrain area and the current topography data in the unchanging terrain area, and corrects the current topography data according to the calculated correction amount. Effect of the Invention

[0011] According to the present invention, low-precision current topographical data can be accurately and easily improved in precision without requiring additional measurement work. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing the configuration of a topographical information management system. [Diagram 2] FIG. [Diagram 3] FIG. 4 is a diagram showing the measurement area of ​​a work machine relative to the current terrain. [Figure 4] FIG. 2 is a block diagram showing the configuration of an on-board measurement system mounted on a work machine. [Diagram 5] FIG. 2 is a block diagram showing the configuration of a management server. [Figure 6] FIG. 2 is a block diagram showing functions of an in-vehicle measurement system and a management server. [Figure 7] FIG. 4 is a block diagram showing details of a current terrain processing unit. [Figure 8] FIG. 4 is a block diagram showing details of a work position processing unit. [Figure 9] FIG. 4 is a block diagram showing details of a non-planned construction area determination processing unit. [Figure 10]FIG. 4 is a block diagram showing details of a non-mechanical work area determination processing unit. [Figure 11] FIG. 4 is a block diagram showing details of a terrain unchanging area determination processing unit. [Figure 12] FIG. 4 is a block diagram showing details of a topography-invariant region extraction processing unit. [Figure 13] FIG. 4 is a block diagram showing details of a current terrain correction processing unit. [Figure 14] A simplified example of pre-construction topographical data. [Figure 15] FIG. 1 is a diagram showing a simplified example of design data. [Figure 16] FIG. 13 is a diagram showing a simplified example of non-planned construction area data. [Figure 17] FIG. 13 is a diagram showing a simplified example of non-mechanical construction area data. [Figure 18] FIG. 13 is a simplified example of terrain-invariant area data. [Figure 19] FIG. 13 is a diagram showing a simplified example of topographically invariant area design data. [Figure 20] A simplified example of current topographical data. [Figure 21] A simplified example of current topographical data for unchanged terrain areas. [Figure 22] FIG. 13 is a diagram showing a simplified example of terrain invariant area correction amount data. [Figure 23] FIG. 1 is a simplified example of current topographical correction data. [Figure 24] A simplified example of the current topographical data after correction. [Diagram 25] 4 is a flowchart showing the operation of a control device of the on-vehicle measurement system. [Figure 26] 26 is a flowchart showing details of the current terrain processing shown in FIG. 25. [Figure 27] 26 is a flowchart showing details of the work position process shown in FIG. 25. [Figure 28] 10 is a flowchart showing the operation of a control device of the management server. [Figure 29] 29 is a flowchart showing details of the non-planned construction area determination process shown in FIG. 28 . [Diagram 30]29 is a flowchart showing details of the non-mechanically worked area determination process shown in FIG. 28 . [Diagram 31] 29 is a flowchart showing details of the terrain unchanging area determination process shown in FIG. 28. [Diagram 32] 29 is a flowchart showing details of the topography-unchanged area extraction processing shown in FIG. 28. [Diagram 33] 29 is a flowchart showing details of the current terrain correction process shown in FIG. 28 . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Components with the same reference numerals in each embodiment have similar components in each embodiment unless otherwise specified, and the description thereof will be omitted.

[0014] <Topographical Information Management System> FIG. 1 is a block diagram showing the configuration of a topographical information management system 10. As shown in FIG.

[0015] The topographical information management system 10 includes an on-board measurement system 20 mounted on a work machine 2 such as a shovel working at a construction site, and a topographical information management server 30 (hereinafter also referred to as the "management server 30") communicatively connected to the on-board measurement system 20 via a wireless network 3. In addition to the on-board measurement system 20 mounted on the work machine 2, the topographical information management system 10 also includes measuring devices 4 and 5 capable of acquiring high-precision current topographical data, such as a laser scanner 4 and a UAV 5, as a means for measuring the current topography of the construction site. These measuring devices 4 and 5 are also communicatively connected to the management server 30 via the wireless network 3. The current topographical data measured by the on-board measurement system 20 of the work machine 2 is transmitted to the management server 30, and is corrected by the management server 30 to high-precision current topographical data.

[0016] In this embodiment, a configuration with one work machine 2 has been described as an example, but the number of work machines 2 is arbitrary. Also, a shovel has been described as an example of the work machine 2, but the work machine 2 may be another work machine, such as a wheel loader or a dump truck.

[0017] <Work machinery> FIG. 2 is a side view of the work machine 2.

[0018] A shovel, which is an example of a work machine 2, includes a traveling body 2a, a rotating body 2b rotatably attached to the upper part of the traveling body 2a, and a front working device 2d consisting of a multi-jointed link mechanism one end of which is connected to the rotating body 2b. The front working device 2d has a boom 2e one end of which is connected to the rotating body 2b, an arm 2f one end of which is connected to the other end of the boom 2e, and a bucket 2g one end of which is connected to the other end of the arm 2f. Each of the boom 2e, the arm 2f, and the bucket 2g is configured to rotate in the vertical direction.

[0019] A cab 2c is provided on the rotating body 2b. In addition, a predetermined portion of the rotating body 2b is provided with an engine that constitutes the power system, a drive hydraulic circuit for the drive actuators, and an operation control device that controls the starting, stopping, and overall operation of the work machine 2. A plurality of operation levers are provided inside the cab 2c, which the operator uses to input movement commands to the respective drive actuators. By operating each of the operation levers, the work machine 2 travels, swings, and performs various operations using the front working implement 2d.

[0020] The work machine 2 is also equipped with an on-board measurement system 20 that measures the current topography of the construction site. The imaging device 22, which is a part of the on-board measurement system 20, is composed of multiple units, such as a vehicle body front imaging device mounted on the top of the cab 2c, a vehicle body rear imaging device mounted on the upper rear part of the revolving body 2b, a vehicle body left imaging device mounted on the upper left part of the revolving body 2b, and a vehicle body right imaging device mounted on the upper right part of the revolving body 2b. Similarly to the imaging device 22, the distance measuring device 23, which is a part of the on-board measurement system 20, is composed of multiple units, such as a vehicle body front distance measuring device mounted on the top of the cab 2c, a vehicle body rear distance measuring device mounted on the upper rear part of the revolving body 2b, a vehicle body left distance measuring device mounted on the upper left part of the revolving body 2b, and a vehicle body right distance measuring device mounted on the upper right part of the revolving body 2b.

[0021] <Measurement area> FIG. 3 is a diagram showing measurement areas A to D of the work machine 2 relative to the current topography T. As shown in FIG.

[0022] The current topography T is measured by an imaging device 22 or a distance measuring device 23 that is part of an on-board measurement system 20 mounted on the work machine 2 while the work machine 2 is operating. The range of measurement areas A to D of the work machine 2 is determined by the performance of the imaging device 22 or the distance measuring device 23.

[0023] <In-vehicle measurement system> FIG. 4 is a block diagram showing the configuration of an on-board measurement system 20 mounted on the work machine 2. As shown in FIG.

[0024] The vehicle-mounted measurement system 20 includes a control device 21 , an imaging device 22 , a distance measuring device 23 , a positioning device 24 , a load measuring device 25 , a storage device 26 , a display device 27 , an operation device 28 , and a communication device 29 .

[0025] The control device 21 is configured by a general computer including a calculation unit 21a configured by a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), etc., a storage unit 21b configured by a ROM (Read only memory) and a RAM (Random Access Memory), etc., and a bus line connecting these, etc. The control device 21 executes various processes by the CPU reading out a program stored in the ROM, writing it to the RAM, and executing it.

[0026] The imaging device 22 is configured with a stereo camera, a depth camera, or the like. The imaging device 22 is one of the components for measuring the topography around the work machine 2. Data measured by the imaging device 22 is stored in the storage device 26 as point cloud data.

[0027] The distance measuring device 23 is configured by a laser scanner, LiDAR (Light Detection and Ranging), or the like. The distance measuring device 23 is one of the components for measuring the topography around the work machine 2. Data measured by the distance measuring device 23 is stored in the storage device 26 as point cloud data.

[0028] The positioning device 24 is configured by a Global Navigation Satellite System (GNSS) receiver such as a Global Positioning System (GPS). The positioning device 24 is a component for acquiring position information of the work machine 2 in a geodetic coordinate system. The data acquired by the positioning device 24 is stored in the storage device 26 as position data.

[0029] The load measuring device 25 is composed of a load cell and the like. The load measuring device 25 is a component for acquiring weight information of soil and sand in the bucket 2g, which is a part of the front working implement 2d of the work machine 2. The data acquired by the load measuring device 25 is stored in the storage device 26 as weight data.

[0030] The storage device 26 is configured by a storage such as a hard disk drive (HDD) or a solid state drive (SSD), etc. The storage device 26 stores measurement data and the like.

[0031] The display device 27 is configured with a liquid crystal display, etc. The display device 27 displays various information to the operator of the work machine 2.

[0032] The operation device 28 is constituted by button switches and the like. The operation device 28 accepts various input operations by the operator of the work machine 2. Note that the display device 27 and the operation device 28 may be constituted by an integrated touch panel or the like.

[0033] The communication device 29 is configured by a communication device compatible with wireless communication standards such as Wi-Fi6 (registered trademark) and LTE (Long Term Evolution). The communication device 29 accesses the wireless network 3 and communicates with the management server 30.

[0034] <Topographical information management server> FIG. 5 is a block diagram showing the configuration of the management server 30. As shown in FIG.

[0035] The management server 30 includes a control device 31, a storage device 32, a communication device 33, a display device 34, and an operation device 35. The management server 30 is configured, for example, by an on-premise server installed in a construction site, or a virtual server on a cloud system.

[0036] The control device 31 is configured by a general computer including a calculation unit 31a configured by a CPU, a GPU, etc., a storage unit 31b configured by a RAM, a ROM, etc., and a bus line connecting these, etc. The control device 31 executes various processes by the CPU reading out a program stored in the ROM, writing it to the RAM, and executing it.

[0037] The storage device 32 is configured with a storage such as an HDD or an SSD. The storage device 32 stores various data.

[0038] The communication device 33 is configured by a communication device compatible with wireless communication standards such as Wi-Fi 6 and LTE. The communication device 33 accesses the wireless network 3 and communicates with the on-board measurement system 20 mounted on the work machine 2.

[0039] The display device 34 is configured with a liquid crystal display etc. The display device 34 displays various information to the site manager of the construction site.

[0040] The operation device 35 is configured with a keyboard, a mouse, etc. The operation device 35 accepts various input operations by the site manager.

[0041] <Functions of the on-board measurement system and management server> FIG. 6 is a block diagram showing the functions of the on-vehicle measurement system 20 and the management server 30. As shown in FIG.

[0042] The control device 21 of the on-vehicle measurement system 20 includes a current topography processing unit 200 and a work position processing unit 210 .

[0043] The current terrain processing unit 200 is a function that processes data related to the current terrain of the construction site measured by the imaging device 22 or distance measuring device 23 of the work machine 2. The work position processing unit 210 is a function that specifies the position where work involving changes in the terrain, such as excavation, slope shaping, or soil dumping, was performed at the construction site.

[0044] The communication device 29 of the on-vehicle measurement system 20 transmits the data processed by the current terrain processing unit 200 and the work position processing unit 210 to the management server 30. The communication device 33 of the management server 30 receives the data transmitted from the on-vehicle measurement system 20. The storage device 32 of the management server 30 stores the data transmitted from the on-vehicle measurement system 20.

[0045] The control device 31 of the management server 30 includes a non-planned construction area determination processing unit 300, a non-mechanical construction area determination processing unit 310, a terrain unchanging area determination processing unit 320, a terrain unchanging area extraction processing unit 330, and a current terrain correction processing unit 340.

[0046] The non-planned construction area determination processing unit 300 is a function that determines the non-planned construction area of ​​the construction site based on the pre-construction terrain and design data showing the terrain after construction is completed. The non-planned construction area is an area of ​​the construction site where there is no plan for the work machine 2 to perform work involving changes in the terrain. In other words, the non-planned construction area is an area where it can be determined before construction starts that work involving changes in the terrain will not be performed. On the other hand, the planned construction area is an area where there is a plan for the work machine 2 to perform work involving changes in the terrain. In other words, the planned construction area is an area where it can be determined before construction starts that work involving changes in the terrain will be performed.

[0047] The non-mechanically-worked area determination processing unit 310 is a function that determines a non-mechanically-worked area of ​​a construction site based on the work position of the work machine 2. A non-mechanically-worked area is an area of ​​a construction site where work involving changes in the terrain has not been performed by the work machine 2. In other words, a non-mechanically-worked area is an area where work involving changes in the terrain that are difficult to determine before the start of construction has not been performed, such as work to temporarily evacuate the soil in the bucket 2g after excavation. On the other hand, a mechanized work area is an area where work involving changes in the terrain has been performed.

[0048] The terrain-unchanged area determination processing unit 320 is a function that determines terrain-unchanged areas based on the non-planned construction area and the non-mechanical construction area. The terrain-unchanged area is an area of ​​the construction site where the terrain did not change before and after construction. The terrain-unchanged area extraction processing unit 330 is a function that extracts terrain-unchanged areas from the current terrain and design data based on the results of the terrain-unchanged area determination.

[0049] The current terrain correction processing unit 340 is a function that calculates the amount of correction of low-precision current terrain data relative to high-precision design data based on the design data within the extracted terrain unchanging area and the current terrain, and corrects the current terrain data using the amount of correction.

[0050] <Current Terrain Processing Unit> FIG. 7 is a block diagram showing the current terrain processing unit 200 in detail.

[0051] The current terrain processing unit 200 includes a current terrain acquisition unit 201 and a current terrain transmission unit 202. The processing of the current terrain processing unit 200 is executed, for example, every time the current terrain is measured. Specifically, the processing of the current terrain processing unit 200 is executed when point cloud data of the current terrain around the work machine 2 is acquired by the imaging device 22 or the distance measuring device 23.

[0052] The memory device 26 stores point cloud data of the current terrain around the work machine 2 acquired by the imaging device 22 or the ranging device 23, and position data of the work machine 2 in the geodetic coordinate system acquired by the positioning device 24.

[0053] The current terrain acquisition unit 201 converts the point cloud data of the current terrain into a two-dimensional grid and converts it into a DEM (Digital Elevation Model) in the site coordinate system based on the point cloud data of the current terrain and the position data of the work machine 2 in the geodetic coordinate system, both of which are stored with time stamps of the same time in the storage device 26. In this embodiment, the DEM indicating the current terrain is also referred to as "current terrain data".

[0054] The current terrain transmission unit 202 transmits the current terrain data acquired by the current terrain acquisition unit 201 to the management server 30 via the communication device 29 .

[0055] <Work position processing section> FIG. 8 is a block diagram showing the working position processing unit 210 in detail.

[0056] The work position processing unit 210 includes a work position acquisition unit 211 and a work position transmission unit 212. The processing of the work position processing unit 210 is executed at least every time the work position of the work machine 2 changes. In practice, the processing of the work position processing unit 210 is always executed while the work machine 2 is in operation.

[0057] The memory device 26 stores position data of the work machine 2 in the geodetic coordinate system acquired by the positioning device 24 and weight data of the soil and sand in the bucket 2g, which is part of the front work implement 2d of the work machine 2, acquired by the load measuring device 25.

[0058] The work position acquisition unit 211 calculates the position of the bucket 2g in the site coordinate system when a change occurs in the weight of the soil in the bucket 2g, based on the position data and weight data of the work machine 2 stored with the same time stamp in the storage device 26. In this embodiment, the position data of the bucket 2g in the site coordinate system when a change occurs in the weight of the soil in the bucket 2g is also referred to as "work position data". The work position data indicates the position where work involving a change in the topography, such as excavation or dumping, was performed.

[0059] The work position transmission unit 212 transmits the work position data acquired by the work position acquisition unit 211 to the management server 30 via the communication device 29.

[0060] <Non-planned construction area determination processing unit> FIG. 9 is a block diagram showing the details of the non-planned construction area determination processing unit 300. As shown in FIG.

[0061] The non-planned construction area determination processing unit 300 includes a pre-construction topography acquisition unit 301, a design data acquisition unit 302, and a non-planned construction area determination unit 303. The processing of the non-planned construction area determination processing unit 300 is executed when pre-construction topography point cloud data indicating the topography of the construction site before construction is started and three-dimensional design data generated based on the pre-construction topography point cloud data are stored in the storage device 32. In addition, the processing of the non-planned construction area determination processing unit 300 is executed when the pre-construction topography point cloud data or the three-dimensional design data stored in the storage device 32 is updated.

[0062] The pre-construction topography point cloud data is measured by measuring instruments 4 and 5 before construction starts (for example, at the time of groundbreaking survey) and stored in the storage device 32. The three-dimensional design data indicates the topography (topography in its completed shape) after construction at the construction site is completed. The three-dimensional design data is generated based on the pre-construction topography point cloud data and stored in the storage device 32 before construction starts.

[0063] The pre-construction terrain acquisition unit 301 converts the pre-construction terrain point cloud data stored in the storage device 32 into a two-dimensional grid and converts it into a DEM in the site coordinate system. In this embodiment, the DEM showing the terrain of the construction site before the start of construction is also referred to as "pre-construction terrain data". The pre-construction terrain data is stored in the storage device 32.

[0064] The design data acquisition unit 302 converts the three-dimensional design data generated based on the pre-construction topography point cloud data stored in the storage device 32 into a two-dimensional grid and converts it into a DEM in the site coordinate system. In this embodiment, the DEM showing the topography of the construction site after completion of construction is also referred to as "design data." The design data is stored in the storage device 32.

[0065] The non-planned construction area determination unit 303 determines the non-planned construction area based on the pre-construction topography data acquired by the pre-construction topography acquisition unit 301 and the design data acquired by the design data acquisition unit 302. Specifically, the non-planned construction area determination unit 303 calculates the difference value of the elevation value in the same cell between the pre-construction topography data and the design data, determines the cell in which the difference value is zero as the non-planned construction area, and determines the cell in which the difference value is non-zero as the planned construction area. Then, the non-planned construction area determination unit 303 generates non-planned construction area data based on this determination result. For example, in order to make it easier to determine the non-planned construction area, the non-planned construction area determination unit 303 generates non-planned construction area data in a two-dimensional grid in which 1 indicating true is stored in the cell determined to be the non-planned construction area and 0 indicating false is stored in the cell determined to be the planned construction area. The non-planned construction area data is stored in the storage device 32.

[0066] <Non-mechanical construction area determination processing unit> FIG. 10 is a block diagram showing the details of the non-mechanically worked area determination processing unit 310. As shown in FIG.

[0067] The non-mechanical work area determination processing unit 310 includes a work position acquisition unit 311 and a non-mechanical work area determination unit 312. The processing of the non-mechanical work area determination processing unit 310 is executed when the work position data received from the work machine 2 is stored in the storage device 32 or updated.

[0068] The work position acquisition unit 311 acquires the work position data stored in the storage device 32 .

[0069] Based on the work position data acquired by the work position acquisition unit 311, the non-machine-performed area determination unit 312 determines that an area where no work position data exists is a non-machine-performed area, and an area where work position data exists is a machine-performed area. Then, based on this determination result, the non-machine-performed area determination unit 312 generates non-machine-performed area data. For example, in order to make it easier to determine non-machine-performed areas, the non-machine-performed area determination unit 312 generates two-dimensional grid-shaped non-machine-performed area data in which 1 indicating true is stored in cells determined to be non-machine-performed areas, and 0 indicating false is stored in cells determined to be machine-performed areas. The non-machine-performed area data is stored in the storage device 32.

[0070] <Terrain-unchanging area determination processing unit> FIG. 11 is a block diagram showing the details of the terrain unchanging area determination processing unit 320. As shown in FIG.

[0071] The terrain unchanging area determination processing unit 320 includes a non-planned construction area acquisition unit 321, a non-mechanical construction area acquisition unit 322, and a terrain unchanging area determination unit 323. The processing of the terrain unchanging area determination processing unit 320 is executed when the non-planned construction area data and the non-mechanical construction area data are stored in the storage device 32. In addition, the processing of the terrain unchanging area determination processing unit 320 is executed when the non-planned construction area data or the non-mechanical construction area data stored in the storage device 32 is updated.

[0072] The non-planned construction area acquisition unit 321 acquires the non-planned construction area data stored in the storage device 32.

[0073] The non-mechanically performed area acquisition unit 322 acquires the non-mechanically performed area data stored in the storage device 32 .

[0074] The terrain unchanging area determination unit 323 determines the terrain unchanging area based on the unplanned construction area data acquired by the unplanned construction area acquisition unit 321 and the unmechanically constructed area data acquired by the unmechanically constructed area acquisition unit 322. Specifically, the terrain unchanging area determination unit 323 calculates the logical product of Boolean values ​​in the same cell in the unplanned construction area data and the unmechanically constructed area data, determines a cell in which the logical product is 1 indicating true as a terrain unchanging area, and determines a cell in which the logical product is 0 indicating false as a terrain variable area. Then, the terrain unchanging area determination unit 323 generates terrain unchanging area data based on this determination result. For example, in order to make it easier to determine the terrain unchanging area, the terrain unchanging area determination unit 323 generates two-dimensional grid-shaped terrain unchanging area data in which 1 indicating true is stored in the cell determined to be the terrain unchanging area and 0 indicating false is stored in the cell determined to be the terrain variable area. The terrain unchanging area data is stored in the storage device 32.

[0075] <Topography-invariant area extraction processing unit> FIG. 12 is a block diagram showing the details of the terrain invariant area extraction processing unit 330. As shown in FIG.

[0076] The terrain unchanging area extraction processing unit 330 includes a design data acquisition unit 331, a current terrain acquisition unit 332, a terrain unchanging area acquisition unit 333, and a terrain unchanging area extraction unit 334. The processing of the terrain unchanging area extraction processing unit 330 is executed when terrain unchanging area data is stored in the storage device 32 and current terrain data received from the work machine 2 is stored in the storage device 32. In addition, the processing of the terrain unchanging area extraction processing unit 330 is executed when the terrain unchanging area data or the current terrain data stored in the storage device 32 is updated.

[0077] The design data acquisition unit 331 acquires the design data stored in the storage device 32 .

[0078] The current terrain acquisition unit 332 acquires the current terrain data received from the work machine 2 and stored in the storage device 32.

[0079] The terrain invariant area acquisition unit 333 acquires terrain invariant area data stored in the storage device 32 .

[0080] The terrain unchanging area extraction unit 334 sets the terrain unchanging area data acquired by the terrain unchanging area acquisition unit 333 as master data. Then, the terrain unchanging area extraction unit 334 generates terrain unchanging area design data by extracting the terrain unchanging area from the design data acquired by the design data acquisition unit 331. The terrain unchanging area design data is design data within the terrain unchanging area. Moreover, the terrain unchanging area extraction unit 334 generates terrain unchanging area current terrain data by extracting the terrain unchanging area from the current terrain data acquired by the current terrain acquisition unit 332. The terrain unchanging area current terrain data is current terrain data within the terrain unchanging area. The terrain unchanging area design data and the terrain unchanging area current terrain data are stored in the storage device 32.

[0081] <Current terrain correction processing section> FIG. 13 is a block diagram showing the current terrain correction processing unit 340 in detail.

[0082] The current terrain correction processing unit 340 includes a terrain unchangeable area design data acquisition unit 341, a terrain unchangeable area current terrain acquisition unit 342, a current terrain acquisition unit 344, a current terrain correction amount calculation unit 343, and a current terrain correction unit 345. The processing of the current terrain correction processing unit 340 is executed when the terrain unchangeable area design data and the terrain unchangeable area current terrain data are stored in the storage device 32. In addition, the processing of the current terrain correction processing unit 340 is executed when the terrain unchangeable area design data or the terrain unchangeable area current terrain data stored in the storage device 32 is updated.

[0083] The terrain invariant area design data acquisition unit 341 acquires the terrain invariant area design data stored in the storage device 32.

[0084] The terrain unchangeable area current terrain acquisition unit 342 acquires the terrain unchangeable area current terrain data stored in the storage device 32.

[0085] The current terrain acquisition unit 344 acquires the current terrain data received from the work machine 2 and stored in the storage device 32.

[0086] The current terrain correction amount calculation unit 343 calculates the correction amount of the current terrain data acquired by the current terrain acquisition unit 344, based on the difference between the terrain unchangeable area design data acquired by the terrain unchangeable area design data acquisition unit 341 and the terrain unchangeable area current terrain data acquired by the terrain unchangeable area current terrain acquisition unit 342. The correction amount is the correction amount of the low-precision current terrain data relative to the high-precision design data.

[0087] Specifically, the current terrain correction amount calculation unit 343 calculates the difference value of the elevation value in the same cell between the terrain unchanged area design data and the terrain unchanged area current terrain data, and sets the calculated difference value as the correction amount of the current terrain data in the terrain unchanged area. Then, the current terrain correction amount calculation unit 343 generates two-dimensional grid-like terrain unchanged area correction amount data as intermediate data, in which the correction amount of the current terrain data in the terrain unchanged area is stored in the cells.

[0088] Furthermore, the current terrain correction amount calculation unit 343 calculates the correction amount of the current terrain data in the terrain variable area. The current terrain correction amount calculation unit 343 calculates the average value (e.g., arithmetic average value) of the correction amount of the current terrain data in the terrain unchanging area existing around the terrain variable area, and sets the calculated average value as the correction amount of the current terrain data in the terrain variable area. Then, the current terrain correction amount calculation unit 343 uses the correction amount of the current terrain data in the terrain variable area to complement the terrain unchanging area correction amount data, and generates current terrain correction amount data. The current terrain correction amount data is data indicating the correction amount of the current terrain data of the construction site, and is two-dimensional grid data in which the correction amount in the terrain unchanging area and the correction amount in the terrain variable area are stored in cells.

[0089] In addition, when calculating the average correction amount of the current terrain data in terrain-unchanging areas surrounding the terrain-variable area, the current terrain correction amount calculation unit 343 may exclude the correction amount of the current terrain data in terrain-unchanging areas adjacent to the terrain-variable area, and calculate the average using the correction amount of the current terrain data in terrain-unchanging areas present within a predetermined range from the terrain-variable area.

[0090] The current terrain correction unit 345 corrects the current terrain data acquired by the current terrain acquisition unit 344 using the current terrain correction amount data generated by the current terrain correction amount calculation unit 343. Specifically, the current terrain correction unit 345 corrects the current terrain data by adding values ​​in the same cell in the current terrain data and the current terrain correction amount data. In this way, the current terrain correction unit 345 generates corrected current terrain data.

[0091] An example of data processing up to the point where the management server 30, which has acquired pre-construction topographical data, generates corrected current topographical data will be described with reference to Figs.

[0092] <Topographical data before construction> FIG. 14 is a diagram showing a simple example of the pre-construction topographical data 400. As shown in FIG.

[0093] The pre-construction terrain data 400 is a DEM in a site coordinate system generated from pre-construction terrain point cloud data measured before the start of construction and stored in the storage device 32. Each cell of the pre-construction terrain data 400 stores an elevation value based on the origin of the site coordinate system. In the example of Fig. 14, the elevation values ​​of all cells are equal, so it represents a flat terrain.

[0094] <Design data> FIG. 15 is a diagram showing a simplified example of the design data 401.

[0095] The design data 401 is a DEM in a site coordinate system generated from three-dimensional design data generated based on the pre-construction topographical point cloud data stored in the storage device 32. Each cell of the design data 401 stores an elevation value based on the origin of the site coordinate system. In the example of Fig. 15, the elevation value of the central region is smaller than that of the pre-construction topographical point cloud data 400, which means that the central region will be excavated by construction.

[0096] <Non-planned construction area data> FIG. 16 is a diagram showing a simple example of the non-planned construction area data 402.

[0097] The non-planned construction area data 402 is non-planned construction area data generated by the non-planned construction area determination unit 303 based on the pre-construction topography data 400 acquired by the pre-construction topography acquisition unit 301 and the design data 401 acquired by the design data acquisition unit 302. In the example of Fig. 16, the area in the peripheral area where the cells are 1 represents the non-planned construction area, and the area in the central area where the cells are 0 represents the planned construction area.

[0098] <Non-mechanical construction area data> FIG. 17 is a diagram showing a simple example of the non-mechanically executed area data 403. As shown in FIG.

[0099] The non-mechanically performed area data 403 is non-mechanically performed area data generated by the non-mechanically performed area determination unit 312 based on the work position data acquired by the work position acquisition unit 311. In the example of Fig. 17, an area with a cell of 1 indicates a non-mechanically performed area, an area in the central area with a cell of 0 indicates a mechanically performed area caused by excavation work by the work machine 2, and areas near the four corners of the central area with a cell of 0 indicate mechanically performed areas caused by soil dumping work by the work machine 2.

[0100] <Terrain-unchanging area data> FIG. 18 is a diagram showing a simple example of the terrain-unchanged area data 404.

[0101] The terrain unchanging area data 404 is terrain unchanging area data generated by the terrain unchanging area determination unit 323 based on the non-planned construction area data 402 acquired by the non-planned construction area acquisition unit 321 and the non-mechanically constructed area data 403 acquired by the non-mechanically constructed area acquisition unit 322. In the example of Fig. 18, an area with a cell of 1 represents a terrain unchanging area, and an area with a cell of 0 represents a terrain variable area.

[0102] <Terrain-unchanging area design data> FIG. 19 is a diagram showing a simple example of the topography-invariant area design data 405.

[0103] The terrain invariant area design data 405 is generated by the terrain invariant area extraction unit 334 based on the design data 401 acquired by the design data acquisition unit 331 and the terrain invariant area data 404 acquired by the terrain invariant area acquisition unit 333. In the example of Fig. 19, the elevation value of each cell represents the elevation value of the design data within the terrain invariant area, and the area painted in black represents the terrain variable area.

[0104] <Current Topographical Data> FIG. 20 is a diagram showing a simplified example of the current topographical data 406.

[0105] The current terrain data 406 is a DEM of the current terrain in the site coordinate system received from the work machine 2 and stored in the storage device 32. An elevation value based on the origin of the site coordinate system is stored in the cells of the current terrain data 406. In the example of Fig. 20, an elevation value including a measurement error of the distance measuring device 23 of the on-vehicle measurement system 20 (i.e., a low-precision elevation value) is stored in each cell of the current terrain data 406.

[0106] <Current terrain data for unchanged terrain areas> FIG. 21 is a diagram showing a simplified example of the terrain unchangeable area current topography data 407.

[0107] The terrain-unchanged area current topography data 407 is terrain-unchanged area current topography data generated by the terrain-unchanged area extraction unit 334 based on the current topography data 406 acquired by the current topography acquisition unit 332 and the terrain-unchanged area data 404 acquired by the terrain-unchanged area acquisition unit 333. In the example of Fig. 21, the elevation value of each cell represents the elevation value of the current topography data in the terrain-unchanged area, and the area painted in black represents the terrain-changed area.

[0108] <Terrain-unchanging area correction data> FIG. 22 is a diagram showing a simple example of the terrain invariant area correction amount data 408.

[0109] The terrain invariant area correction amount data 408 is terrain invariant area correction amount data generated as intermediate data by the current terrain correction amount calculation unit 343 based on the terrain invariant area design data 405 acquired by the terrain invariant area design data acquisition unit 341 and the terrain invariant area current terrain data 407 acquired by the terrain invariant area current terrain acquisition unit 342. In the example of Fig. 22, the value of each cell represents the correction amount of the terrain invariant area, and the area painted in black represents the terrain variable area.

[0110] <Current Topographical Correction Data> FIG. 23 is a diagram showing a simple example of the current topographical correction data 409.

[0111] The current terrain correction amount data 409 is generated by the current terrain correction amount calculation unit 343 based on the terrain unchangeable area correction amount data 408 generated as intermediate data by the current terrain correction amount calculation unit 343. In the example of Fig. 23, the correction amount of the current terrain data 406 is stored in each cell of the current terrain correction amount data 409.

[0112] <Current topographical data after correction> FIG. 24 is a diagram showing a simplified example of the corrected current topographical data 410.

[0113] The corrected current terrain data 410 is corrected current terrain data generated by the current terrain correction unit 345 based on the current terrain data 406 acquired by the current terrain acquisition unit 344 and the current terrain correction amount data 409 generated by the current terrain correction amount calculation unit 343. In the example of Fig. 23, a corrected altitude value is stored in each cell of the corrected current terrain data 410.

[0114] The operation of the control device 21 of the on-vehicle measurement system 20 will be described with reference to FIGS.

[0115] FIG. 25 is a flowchart showing the operation of the control device 21 of the on-vehicle measurement system 20.

[0116] The control device 21 executes current terrain processing S200, which is the processing of the current terrain processing unit 200, and work position processing S210, which is the processing of the work position processing unit 210, in parallel and periodically.

[0117] <Current Terrain Processing> FIG. 26 is a flow chart showing the details of the current topography processing S200 shown in FIG.

[0118] The control device 21 converts the current topography point cloud data into DEM in the on-site coordinate system based on the current topography point cloud data having the same time stamp stored in the storage device 26 and the position data of the work machine 2 in the geodetic coordinate system, and acquires the current topography data (S201). The control device 21 transmits the acquired current topography data to the management server 30 via the communication device 29 (S202). Thereafter, the control device 21 ends the current topography processing S200.

[0119] <Work position processing> FIG. 27 is a flow chart showing details of the working position process S210 shown in FIG.

[0120] The control device 21 calculates the position of the bucket 2g in the site coordinate system when a change occurs in the weight of the soil in the bucket 2g, based on the position data and weight data of the work machine 2 having the same time stamp stored in the storage device 26, and acquires the work position data (S211). The control device 21 transmits the acquired work position data to the management server 30 via the communication device 29 (S212). Thereafter, the control device 21 ends the work position processing S210.

[0121] The operation of the control device 31 of the management server 30 will be described with reference to FIGS.

[0122] Figure 28 is a flowchart showing the operation of the control device 31 of the management server 30. Figure 28 shows the operation of the control device 31 that is carried out after construction has started (while the work machine 2 is in operation). The control device 31 periodically executes the operation shown in Figure 28.

[0123] First, the control device 31 refers to the storage device 32 and determines whether the pre-construction topographical point cloud data or the three-dimensional design data has been updated (S11). If the pre-construction topographical point cloud data or the three-dimensional design data has been updated, the control device 31 executes the non-planned construction area determination process S300, which is the process of the non-planned construction area determination processing unit 300, and proceeds to the next branching process S12. On the other hand, if the pre-construction topographical point cloud data and the three-dimensional design data have not been updated, the control device 31 proceeds directly to the next branching process S12.

[0124] Next, the control device 31 refers to the storage device 32 and determines whether the work position data has been updated (S12). If the work position data has been updated, the control device 31 executes the non-mechanical work area determination process S310, which is the process of the non-mechanical work area determination processing unit 310, and proceeds to the next branch process S13. On the other hand, if the work position data has not been updated, the control device 31 proceeds directly to the next branch process S13.

[0125] Next, the control device 31 refers to the storage device 32 and determines whether the non-planned construction area data or the non-mechanically constructed area data has been updated (S13). If the non-planned construction area data or the non-mechanically constructed area data has been updated, the control device 31 executes the terrain unchanging area determination process S320, which is the process of the terrain unchanging area determination processing unit 320, and proceeds to the next branching process S14. On the other hand, if the non-planned construction area data and the non-mechanically constructed area data have not been updated, the control device 31 proceeds directly to the next branching process S14.

[0126] Next, the control device 31 refers to the storage device 32 and determines whether the terrain unchanging area data or the current terrain data has been updated (S14). Updating the terrain unchanging area data means that the terrain unchanging area determination process S320 has been performed. When the terrain unchanging area data or the current terrain data has been updated, the control device 31 executes the terrain unchanging area extraction process S330, which is the process of the terrain unchanging area extraction processing unit 330, and then executes the current terrain correction process S340, which is the process of the current terrain correction processing unit 340. After that, the control device 31 ends the operation shown in FIG. 28. On the other hand, when the terrain unchanging area data and the current terrain data have not been updated, the control device 31 ends the operation shown in FIG. 28 as it is.

[0127] <Non-planned construction area determination process> FIG. 29 is a flowchart showing details of the non-planned construction area determination process S300 shown in FIG.

[0128] The control device 31 converts the pre-construction topographical point cloud data stored in the storage device 32 into a DEM in the site coordinate system, and acquires the pre-construction topographical data (S301). The control device 31 converts the three-dimensional design data stored in the storage device 32 into a DEM in the site coordinate system, and acquires the design data (S302). The control device 31 determines a non-planned construction area of ​​the construction site based on the acquired pre-construction topographical data and design data, and generates non-planned construction area data (S303). The control device 31 stores the generated non-planned construction area data in the storage device 32. Thereafter, the control device 31 ends the non-planned construction area determination process S300.

[0129] <Non-mechanical construction area determination process> FIG. 30 is a flowchart showing details of the non-mechanically worked area determination process S310 shown in FIG.

[0130] The control device 31 acquires the work position data stored in the storage device 32 (S311). The control device 31 determines a non-mechanically performed area of ​​the construction site based on the acquired work position data, and generates non-mechanically performed area data (S312). The control device 31 stores the generated non-mechanically performed area data in the storage device 32. Thereafter, the control device 31 ends the non-mechanically performed area determination process S310.

[0131] <Terrain unchanged area determination process> FIG. 31 is a flow chart showing the details of the terrain unchanging area determination process S320 shown in FIG.

[0132] The control device 31 acquires the non-planned construction area data stored in the storage device 32 (S321). The control device 31 acquires the non-mechanically constructed area data stored in the storage device 32 (S322). The control device 31 determines the terrain unchanging area of ​​the construction site based on the acquired non-planned construction area data and non-mechanically constructed area data, and generates terrain unchanging area data (S323). The control device 31 stores the generated terrain unchanging area data in the storage device 32. Thereafter, the control device 31 ends the terrain unchanging area determination process S320.

[0133] <Extraction of terrain-invariant areas> FIG. 32 is a flow chart showing the details of the terrain unchangeable area extraction process S330 shown in FIG.

[0134] The control device 31 acquires the design data stored in the storage device 32 (S331). The control device 31 acquires the current state terrain data stored in the storage device 32 (S332). The control device 31 acquires the terrain unchanging area data stored in the storage device 32 (S333). The control device 31 sets the acquired terrain unchanging area data as master data. The control device 31 extracts the terrain unchanging area from the acquired design data, and generates the terrain unchanging area design data (S334). The control device 31 extracts the terrain unchanging area from the acquired current state terrain data, and generates the terrain unchanging area current state terrain data (S334). The control device 31 stores the generated terrain unchanging area design data and the terrain unchanging area current state terrain data in the storage device 32. After that, the control device 31 ends the terrain unchanging area extraction process S330.

[0135] <Current terrain correction processing> FIG. 33 is a flow chart showing the details of the current terrain correction process S340 shown in FIG.

[0136] The control device 31 acquires terrain invariant area design data stored in the storage device 32 (S341). The control device 31 acquires terrain invariant area current condition terrain data stored in the storage device 32 (S342).

[0137] The control device 31 calculates a difference value between the acquired terrain unchanging area design data and the terrain unchanging area current terrain data, and sets the calculated difference value as the correction amount of the current terrain data in the terrain unchanging area. The control device 31 calculates an average value of the correction amounts of the current terrain data in the terrain unchanging areas existing around the terrain variable area, and sets the calculated average value as the correction amount of the current terrain data in the terrain variable area. The control device 31 generates current terrain correction amount data according to the correction amount of the current terrain data in the terrain unchanging area and the correction amount of the current terrain data in the terrain variable area (S343).

[0138] The control device 31 acquires the current terrain data stored in the storage device 32 (S344). The control device 31 corrects the acquired current terrain data using the generated current terrain correction amount data, and generates corrected current terrain data (S345). The control device 31 stores the generated corrected current terrain data in the storage device 32. Thereafter, the control device 31 ends the current terrain correction process S340.

[0139] As described above, the topographical information management system 10 of this embodiment includes a management server 30 that manages current topographical data that indicates the current topography of the construction site. The management server 30 determines an unaltered terrain area of ​​the construction site where the topography does not change before and after construction based on pre-construction topographical data that indicates the topography of the construction site before construction begins, design data that indicates the topography of the construction site after construction is completed, and work position data that indicates the work position of the work machine at the construction site. The management server 30 calculates the correction amount of the current topographical data based on the difference between the design data in the unaltered terrain area and the current topographical data in the unaltered terrain area. The management server 30 corrects the current topographical data according to the calculated correction amount.

[0140] As a result, the topographical information management system 10 can calculate the correction amount of the current topographical data for the high-precision design data that does not depend on the specifications of the measuring equipment and the measurement conditions. Therefore, the topographical information management system 10 can calculate the correction amount that can accurately improve the precision of the low-precision current topographical data. Furthermore, the topographical information management system 10 can calculate the correction amount of the current topographical data for the design data obtained from the topographical measurement results that are always performed before the start of construction. Therefore, the topographical information management system 10 can easily calculate the correction amount that can improve the precision of the low-precision current topographical data without performing additional measurement work. Therefore, the topographical information management system 10 can accurately and easily improve the precision of the low-precision current topographical data without requiring additional measurement work.

[0141] Furthermore, in the terrain information management system 10 of this embodiment, the management server 30 calculates the difference value between the design data in the terrain unchanging area and the current terrain data in the terrain unchanging area as the correction amount of the current terrain data in the terrain unchanging area. The management server 30 calculates the average correction amount of the current terrain data in the terrain unchanging area existing around the terrain variable area where the terrain changes before and after construction as the correction amount of the current terrain data in the terrain variable area. The management server 30 corrects the current terrain data according to the correction amount of the current terrain data in the terrain unchanging area and the correction amount of the current terrain data in the terrain variable area.

[0142] This allows the topographical information management system 10 to more accurately calculate the correction amount of the current topographical data without being affected by noise information (such as people or equipment that temporarily appear at the construction site) that may be included in the current topographical data. Therefore, the topographical information management system 10 can more accurately and easily improve the accuracy of low-precision current topographical data without requiring additional measurement work.

[0143] Furthermore, in the terrain information management system 10 of this embodiment, when calculating the above average value, the management server 30 excludes the correction amount of the current terrain data in the terrain unchanging area adjacent to the terrain changing area, and calculates the above average value using the correction amount of the current terrain data in the terrain unchanging area that exists within a predetermined range from the terrain changing area.

[0144] This allows the topographical information management system 10 to more accurately calculate the correction amount for the current topographical data in a manner that is robust against the influence of judgment errors that may be included in the result of judging the topographical invariant area. Therefore, the topographical information management system 10 can more accurately and easily improve the accuracy of low-precision current topographical data without requiring additional measurement work.

[0145] Furthermore, in the topographical information management system 10 of this embodiment, the management server 30 determines a non-planned construction area of ​​the construction site where no work involving changes in the topography is planned based on the pre-construction topographical data and the design data. The management server 30 determines a non-mechanical construction area of ​​the construction site where no work involving changes in the topography has been performed based on the work position data. The management server 30 determines a topographically unchanged area from the determined non-planned construction area and non-mechanical construction area.

[0146] As a result, the topographical information management system 10 can further reduce the determination error of the terrain unchanged area, and can more accurately calculate the correction amount of the current topographical data. Therefore, the topographical information management system 10 can more accurately and easily improve the accuracy of the low-precision current topographical data without requiring additional measurement work.

[0147] Furthermore, in the topographical information management system 10 of this embodiment, the management server 30 receives and stores current topographical data every time the current topography is measured, and receives and stores work position data at least every time the work position changes. The management server 30 determines an unchanging terrain area every time at least one of the pre-construction topographical data, the design data, and the work position data is updated. The management server 30 calculates the correction amount of the current topographical data and corrects the current topographical data every time an unchanging terrain area is determined or every time the current topographical data is updated.

[0148] As a result, the topographical information management system 10 can calculate the correction amount for the current topographical data in real time and correct the current topographical data in real time even while the work machine 2 is operating. Therefore, the topographical information management system 10 can accurately and easily improve the accuracy of low-precision current topographical data in real time while the work machine 2 is operating, without requiring additional measurement work.

[0149] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to each embodiment, and various modifications can be made without departing from the spirit of the present invention. In the present invention, components of one embodiment can be added to components of another embodiment, components of one embodiment can be replaced with components of another embodiment, or some components of one embodiment can be deleted. [Explanation of symbols]

[0150] 2...working machine, 4...laser scanner, 5...UAV, 10...terrain information management system, 20...vehicle-mounted measurement system, 21...control device, 22...imaging device, 23...ranging device, 24...positioning device, 25...load measurement device, 26...storage device, 27...display device, 28...operation device, 29...communication device, 30...terrain information management server (management server), 31...control device, 32...storage device, 33...communication device, 34...display device, 35...operation device, 200...current terrain processing unit, 210...work position processing unit, 300...non-planned construction area determination processing unit, 310...non-mechanical construction area determination processing unit, 320...terrain unchanged area determination processing unit, 330...terrain unchanged area extraction processing unit, 340...current terrain correction processing unit

Claims

1. A topographical information management system including a management server for managing current topographical data showing the current topography of a construction site, The management server includes: Based on pre-construction topography data indicating the topography of the construction site before construction begins, design data indicating the topography of the construction site after construction is completed, and work position data indicating the work position of a work machine at the construction site, a topography-unchanging area of ​​the construction site where the topography does not change before and after construction is determined; Calculating a correction amount for the current topography data based on a difference between the design data in the terrain unaltered area and the current topography data in the terrain unaltered area; The current topographical data is corrected in accordance with the calculated correction amount. A topographical information management system comprising:

2. The management server includes: A difference value between the design data in the terrain unaltered area and the current state terrain data in the terrain unaltered area is calculated as the correction amount of the current state terrain data in the terrain unaltered area; Calculating an average value of the correction amounts of the current terrain data in the terrain unchanging area existing around the terrain variable area where the terrain changes before and after construction as the correction amount of the current terrain data in the terrain variable area; The current terrain data is corrected according to the correction amount of the current terrain data in the terrain unchanging area and the correction amount of the current terrain data in the terrain variable area.

2. The topographical information management system according to claim 1,

3. The management server includes: When calculating the average value, the correction amount of the current terrain data in the terrain unchanging area adjacent to the terrain changing area is excluded, and the average value is calculated using the correction amount of the current terrain data in the terrain unchanging area existing within a predetermined range from the terrain changing area.

3. The topographical information management system according to claim 2,

4. The management server includes: Based on the pre-construction topographical data and the design data, a non-planned construction area of ​​the construction site is determined in which no work involving changes in topography is planned to be performed; Based on the work position data, a non-mechanically-constructed area of ​​the construction site where no work involving changes in the terrain was performed is determined; The terrain unchanging area is determined from the determined non-planned construction area and the determined non-mechanical construction area.

2. The topographical information management system according to claim 1,

5. The management server includes: receiving and storing the current terrain data every time the current terrain is measured, and receiving and storing the work position data at least every time the work position is changed; determining the terrain unchanging area each time at least one of the pre-construction terrain data, the design data, and the work position data is updated; Each time the terrain unchanging area is determined or the current terrain data is updated, the correction amount of the current terrain data is calculated to correct the current terrain data.

2. The topographical information management system according to claim 1,

Images